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Title: Trajectory Tracking Control of a Mobile Robot with the ROS System
Alternative title:
Sterowanie w ruchu nadążnym robota mobilnego z systemem ROS
Contributor:
Jarosław PANASIUK, Leszek BARANOWSKI, Wojciech KACZMAREK, Szymon BORYS
Abstract:
This article provides a simulation and laboratory study of a control system for a two-wheeled differential-drive mobile robot with ROS system. The authors propose an approach to designing a control system based on a parametric model of the robot’s dynamics. The values of unknown parameters of the dynamic model have been determined by means of a Levenberg-Marguardt identification method. By comparing the desired trajectories with those obtained from simulation and laboratory tests, and based on errors analysis, the correctness of the model parameter identification process and the control system operation was then determined.
Place of publishing:
Warszawa
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Identifier:
oai:ribes-88.man.poznan.pl:2656
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Keywords:
mobile robot, ROS, parametric dynamic model, identification, trajectory tracking
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Last modified:
Oct 13, 2025
In our library since:
Oct 13, 2025
Number of object content hits:
0
All available object's versions:
https://ribes-88.man.poznan.pl/publication/2985
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| Edition name | Date |
|---|---|
| Trajectory Tracking Control of a Mobile Robot with the ROS System | Oct 13, 2025 |
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